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amiro-os / modules / NUCLEO-F103RB / module.c @ 3106e8cc

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file
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 * @brief   Structures and constant for the NUCLEO-F103RB module.
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 *
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 * @addtogroup NUCLEO-F103RB_module
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 * @{
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 */
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#include "module.h"
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/*===========================================================================*/
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/**
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 * @name Module specific functions
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 * @{
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 */
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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 * @name ChibiOS/HAL configuration
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 * @{
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 */
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/*===========================================================================*/
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SerialConfig moduleHalProgIfConfig = {
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  /* bit rate */ 115200,
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  /* CR1      */ 0,
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  /* CR1      */ 0,
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  /* CR1      */ 0,
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};
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#if defined(AMIROLLD_CFG_DW1000)
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/*! SPI (high and low speed) configuration for DW1000 */
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SPIConfig moduleHalSpiUwbHsConfig = {
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  /* circular buffer mode        */ false,
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  /* callback function pointer   */ NULL,
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  /* chip select line port       */ GPIOB,
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  /* chip select line pad number */ GPIOB_PIN12,
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  /* CR1                         */ 0,
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  /* CR2                         */ 0,
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};
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SPIConfig moduleHalSpiUwbLsConfig = {
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  /* circular buffer mode        */ false,
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  /* callback function pointer   */ NULL,
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  /* chip select line port       */ GPIOB,
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  /* chip select line pad number */ GPIOB_PIN12,
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  /* CR1                         */ SPI_CR1_BR_1 | SPI_CR1_BR_0,
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  /* CR2                         */ 0,
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};
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/** @} */
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/*===========================================================================*/
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/**
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 * @name GPIO definitions
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   LED output signal GPIO.
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 */
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static apalGpio_t _gpioLed = {
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  /* line */ PAL_LINE(GPIOA, GPIOA_LED_GREEN),
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};
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ROMCONST apalControlGpio_t moduleGpioLed = {
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  /* GPIO */ &_gpioLed,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_HIGH,
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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  },
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};
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#if defined(AMIROLLD_CFG_DW1000)
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/**
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 * @brief   DW1000 reset output signal GPIO.
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 */
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static apalGpio_t _gpioDw1000Reset = {
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  /* line */ PAL_LINE(GPIOA, GPIOA_ARD_A0),
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};
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ROMCONST apalControlGpio_t moduleGpioDw1000Reset = {
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  /* GPIO */ &_gpioDw1000Reset,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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    /* active state   */ APAL_GPIO_ACTIVE_HIGH,
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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  },
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};
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/**
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 * @brief   DW1000 interrrupt input signal GPIO.
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 */
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static apalGpio_t _gpioDw1000Irqn = {
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  /* line */ PAL_LINE(GPIOB, GPIOB_ARD_D6),
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};
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ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = {
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  /* GPIO */ &_gpioDw1000Irqn,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_RISING,
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  },
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};
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/**
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 * @brief   DW1000 SPI chip select output signal GPIO.
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 */
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static apalGpio_t _gpioSpiChipSelect = {
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  /* line */ PAL_LINE(GPIOB, GPIOB_PIN12),
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};
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ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = {
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  /* GPIO */ &_gpioSpiChipSelect,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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  },
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};
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/**
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 * @brief   User button input signal GPIO.
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 */
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static apalGpio_t _gpioUserButton = {
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  /* line */ PAL_LINE(GPIOC, GPIOC_BUTTON),
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};
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ROMCONST apalControlGpio_t moduleGpioUserButton = {
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  /* GPIO */ &_gpioUserButton,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/** @} */
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/*===========================================================================*/
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/**
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 * @name AMiRo-OS core configurations
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 * @{
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 */
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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ROMCONST char* moduleShellPrompt = "NUCLEO-F103RB";
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Startup Shutdown Synchronization Protocol (SSSP)
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 * @{
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 */
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/*===========================================================================*/
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/*===========================================================================*/
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/**
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 * @name Hardware specific wrappers Functions
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 * @{
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 */
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/*===========================================================================*/
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#if defined(AMIROLLD_CFG_DW1000)
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/*! @brief TODO: Manual implementation of SPI configuration. Somehow, it is necessary in NUCLEO-F103RB  */
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void dw1000_spi_init(void){
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  palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
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  palSetPadMode(GPIOB, GPIOB_PIN14, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
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  palSetPadMode(GPIOB, GPIOB_PIN15, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
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  palSetLineMode(moduleGpioSpiChipSelect.gpio->line, PAL_MODE_OUTPUT_PUSHPULL);
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  apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW);
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}
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Low-level drivers
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 * @{
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 */
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/*===========================================================================*/
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#if defined(AMIROLLD_CFG_DW1000)
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DW1000Driver moduleLldDw1000 = {
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  /* SPI driver         */ &MODULE_HAL_SPI_UWB,
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  /* ext interrupt      */ &moduleGpioDw1000Irqn,
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  /* RESET DW1000       */ &moduleGpioDw1000Reset,
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};
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Unit tests (UT)
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 * @{
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 */
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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#if defined(AMIROLLD_CFG_DW1000)
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/*
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 * UwB Driver (DW1000)
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 */
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static int _utShellCmdCb_Dw1000(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  (void)argc;
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  (void)argv;
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  aosUtRun(stream, &moduleUtAlldDw1000, NULL);
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  return AOS_OK;
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}
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aos_unittest_t moduleUtAlldDw1000 = {
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  /* info           */ "DW1000",
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  /* name           */ "UWB System",
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  /* test function  */ utAlldDw1000Func,
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  /* shell command  */ {
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    /* name     */ "unittest:Uwb",
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    /* callback */ _utShellCmdCb_Dw1000,
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    /* next     */ NULL,
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  },
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  /* data           */ &moduleLldDw1000,
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};
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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/** @} */
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/** @} */